131 lines
5.7 KiB
C++
131 lines
5.7 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/features/feature.h>
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#include <pcl/features/fpfh.h>
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namespace pcl
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{
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/** \brief FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud
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* dataset containing points and normals, in parallel, using the OpenMP standard.
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*
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* \note If you use this code in any academic work, please cite:
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*
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* - R.B. Rusu, N. Blodow, M. Beetz.
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* Fast Point Feature Histograms (FPFH) for 3D Registration.
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* In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
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* Kobe, Japan, May 12-17 2009.
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* - R.B. Rusu, A. Holzbach, N. Blodow, M. Beetz.
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* Fast Geometric Point Labeling using Conditional Random Fields.
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* In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
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* St. Louis, MO, USA, October 11-15 2009.
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*
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* \attention
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* The convention for FPFH features is:
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* - if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN
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* (not a number)
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* - it is impossible to estimate a FPFH descriptor for a point that
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* doesn't have finite 3D coordinates. Therefore, any point that contains
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* NaN data on x, y, or z, will have its FPFH feature property set to NaN.
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*
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* \author Radu B. Rusu
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* \ingroup features
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*/
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template <typename PointInT, typename PointNT, typename PointOutT>
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class FPFHEstimationOMP : public FPFHEstimation<PointInT, PointNT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<FPFHEstimationOMP<PointInT, PointNT, PointOutT> >;
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using ConstPtr = shared_ptr<const FPFHEstimationOMP<PointInT, PointNT, PointOutT> >;
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using Feature<PointInT, PointOutT>::feature_name_;
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using Feature<PointInT, PointOutT>::getClassName;
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using Feature<PointInT, PointOutT>::indices_;
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using Feature<PointInT, PointOutT>::k_;
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using Feature<PointInT, PointOutT>::search_parameter_;
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using Feature<PointInT, PointOutT>::input_;
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using Feature<PointInT, PointOutT>::surface_;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f1_;
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using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f2_;
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using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f3_;
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using FPFHEstimation<PointInT, PointNT, PointOutT>::weightPointSPFHSignature;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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FPFHEstimationOMP (unsigned int nr_threads = 0) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11)
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{
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feature_name_ = "FPFHEstimationOMP";
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setNumberOfThreads(nr_threads);
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}
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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void
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setNumberOfThreads (unsigned int nr_threads = 0);
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private:
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/** \brief Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by
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* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
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* setSearchMethod ()
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* \param[out] output the resultant point cloud model dataset that contains the FPFH feature estimates
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*/
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void
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computeFeature (PointCloudOut &output) override;
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public:
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/** \brief The number of subdivisions for each angular feature interval. */
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int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;
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private:
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/** \brief The number of threads the scheduler should use. */
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unsigned int threads_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/fpfh_omp.hpp>
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#endif
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